nomad
[Drivers]

Collaboration diagram for nomad:

Todo:
This driver is currently disabled because it needs to be updated to the Player 2.0 API.
The nomad driver controls the Nomadics NOMAD200 robot, and should be easily modified to support close relatives.

This driver uses the Nomad-specific player_interface_nomad interface to talk over a serial port to a robot running Nomadics' robot server program. The nomad interface gives access to most of the Nomad's functionality. This driver also has a set of companion drivers that provide generic (i.e. not robot-specific) Player interfaces. These are: nomad_position (provides position2d) and nomad_sonar (provides sonar). The companion drivers rely on the nomad driver to talk to the robot, so you MUST instantiate a nomad device in your config file, followed by the devices using the companion drivers. See below for an example config file umentation for the companion drivers for example configfiles.

Compile-time dependencies

Provides

Requires

Configuration requests

Configuration file options

Example
driver
(
  name "nomad"
  provides ["nomad:0"]
  serial_device "/dev/ttyS0"
  serial_speed  "9600"
)

driver
(
  name "nomad_position"
  requires ["nomad:0"]
  provides ["position:0"]
)

driver
(
  name "nomad_sonar"
  requires ["nomad:0"]
  provides ["sonar:0"]
)

Author:
Richard Vaughan, Pawel Zebrowski


Last updated 12 September 2005 21:38:45